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UniversalRobots / Universal_Robots_ROS2_Gazebo_Simulation

BSD 3-Clause "New" or "Revised" License
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UR5 not working correctly #34

Closed fmauch closed 4 months ago

fmauch commented 7 months ago

The UR5 seems not to be simulated correctly. It's the only robot that shakes directly after start. While with the others I can execute trajectories, with the UR5 this doesn't work.

fmauch commented 6 months ago

probably a duplicate of #11

T-BonesLek commented 3 months ago

Is there a workaround? Can we use the E-series model as a reference, or are the controls significantly different?

RobertWilbrandt commented 3 months ago

As of https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/pull/127, this should no longer be an issue. I created #57 to remove the out-of-date note in the README.

T-BonesLek commented 3 months ago

@RobertWilbrandt I am new to this. Do I still need to use this repo and combine it with https://github.com/UniversalRobots/Universal_Robots_ROS2_Description repo ?

or is the ros2 Description a new "working" version of the gazebo simulation ?

probably wrong place to ask, but how do I include a custom gripper ? I have dae and STL files. the urdf is all in xacro formate, not the usual link and Joint

RobertWilbrandt commented 3 months ago

This repo uses the robot models from ur_robot_description (see here). You don't have to do anything extra for this.

You would normally create a new description and simulation package for adding more external components to the arm. In the description you would instantiate the ur xacro macro and then add your custom urdf / xacro to it. We are currently working on a tutorial here, you can take a look if it is useful to you in its current form already.

Feel free to open a new issue if there are problems with this.